
/**
  ******************************************************************************
  * Copyright 2021 The Microbee Authors. All Rights Reserved.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  * 
  * http://www.apache.org/licenses/LICENSE-2.0
  * 
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  * 
  * @file       uitc_estimator_sensor_bias.h
  * @author     baiyang
  * @date       2023-8-29
  ******************************************************************************
  */

#pragma once

#ifdef __cplusplus
extern "C"{
#endif

/*----------------------------------include-----------------------------------*/
#include <uITC/uITC.h>
/*-----------------------------------macro------------------------------------*/
ITC_DECLARE(estimator_sensor_bias);
/*----------------------------------typedef-----------------------------------*/
typedef struct {
    uint64_t timestamp;
    uint64_t timestamp_sample;
    uint32_t gyro_device_id;
    float gyro_bias[3];
    float gyro_bias_limit;
    float gyro_bias_variance[3];
    uint32_t accel_device_id;
    float accel_bias[3];
    float accel_bias_limit;
    float accel_bias_variance[3];
    uint32_t mag_device_id;
    float mag_bias[3];
    float mag_bias_limit;
    float mag_bias_variance[3];
    bool gyro_bias_valid;
    bool gyro_bias_stable;
    bool accel_bias_valid;
    bool accel_bias_stable;
    bool mag_bias_valid;
    bool mag_bias_stable;
}uitc_estimator_sensor_bias;
/*----------------------------------variable----------------------------------*/

/*-------------------------------------os-------------------------------------*/

/*----------------------------------function----------------------------------*/

/*------------------------------------test------------------------------------*/

#ifdef __cplusplus
}
#endif



